基于嵌入式实时操作系统的寻线机器人设计

针对寻线机器人控制的实时性、非线性要求，提出一种基于嵌入式实时操作系统和模糊控制算法的寻线机器人系统设计方案，包括使用μC／OS-Ⅱ内核进行任务的管理与调度，位置和速度双输入的转向角度模糊控制，基于地图和光电传感器的信息融合导航等。实验结果表明，寻线机器人在多种速度和路况下均能稳定行驶。

Design of Line-tracking Robot Based on Embedded Real-time Operating System

To meet the requirement of real-time and non-linear control of line-tracking robot, this paper presents a kind of control system based on μC/OS-Ⅱ and fuzzy control algorithm. μC/OS-Ⅱ is transplanted to make multitasks management and schedule. It contains fuzzy control of turning angle under the condition of double input of location and speed based on the maps’ and photoelectric sensor’s information fusion for the integrated navigation. Experimental Result shows that line-trcking control robot can travel steady in lots of different velocity and diverse conditions of road.